diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
index 5bbbec318d..100ebe6fa3 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -1508,7 +1508,9 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const Vec
 		if (_param_fw_use_npfg.get()) {
 			_npfg.setAirspeedNom(target_airspeed * _eas2tas);
 			_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
-			_npfg.navigateWaypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
+			// NOTE: current waypoint is passed twice to trigger the "point following" logic -- TODO: create
+			// point following navigation interface instead of this hack.
+			_npfg.navigateWaypoints(curr_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
 			_att_sp.roll_body = _runway_takeoff.getRoll(_npfg.getRollSetpoint());
 			target_airspeed = _npfg.getAirspeedRef() / _eas2tas;